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12.3 TYPES OF COMPUTERS FOR ROBOTS
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debugger hardware connection and cannot be used for application input and output pins. In theory, the ability to debug the program running in a robot seems like an outstanding idea, but in practice, it can be very difficult to implement on a mobile robot. It may sound ironic, but you should seriously consider a microcontroller that has a debugger interface built in as this could be used as a programming interface, eliminating the need to pull out the chip every time the program is updated. By being able to plug a cable into the robot for programming, the time required to update the program in the microcontroller as well as the opportunity for damaging the microcontroller chip will be greatly reduced. The ability and cost of a microcontroller programmer are probably the most important considerations that you should make when choosing a microcontroller to work with. While a chip may be ideally suited to the robot application you want to create, if you cannot get a reasonably priced programmer, then you will find that you are spending a disproportionate amount of money on something that does not affect the operation of the robot. A less capable microcontroller with a cheap and simple programming interface will be a lot more useful to you in the long run.
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12.3.2 PERSONAL DIGITAL ASSISTANTS
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Palm Pilots and other small personal digital assistants (PDAs) can be used as a small robot controller that combines many of the advantages of microcontrollers, larger single-board computers, and PC motherboards and laptops. The built-in power supply and graphic LCD display (with Graffiti stylus input) are further advantages, eliminating the need for supplying power to the PDA and providing a method of entering in parameter data or even modifying the application code without a separate computer. The most significant issue that you will encounter using a PDA as a robot controller is deciding how to interface it to the robot s electronics. PDAs are becoming increasingly popular as robot controllers and there are a variety of products and resources that will make the effort easier for you. There are two primary types of PDAs to consider based on the operating system used. The Palm O/S was the original, and there are a number of programming languages and native programming environments to consider. One notable product that is very popular with robot developers is the HotPaw (www.hotpaw.com/hotpaw) BASIC programming environment lets you develop, compile, and run BASIC applications on your PDA with a less than $20 license fee. Windows CE is the other type of operating system used by PDAs and offers essentially the same features as the Palm-based devices. At the time of this writing, Microsoft offers a number of eMbedded Visual Tools from their Dveloper s web site (www.microsoft.com) for Windows CE devices including eMbedded Visual BASIC, which can be written and tested on a PC before being downloaded into the PDA. Once you have decided on the device and the programming environment, you have to decide what is going to be the methodology for connecting the PDA into the robot. You have two choices: the serial port that is built into the robot or the IRDA infrared data port. The serial port is similar to a PC s RS-232 port, but typically only implements two handshaking lines and generally does not produce valid RS-232 voltage levels neither of which is a significant issue, but things that you should be aware of. The IRDA port is a fairly high speed (from 9.600 to 115.2 kbps) infrared serial port that implements a reasonably complex data protocol. There are a number of IR transceivers and stack protocol chips (such as the Microchip MPC2150) that you can use to implement the interface the total cost for
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